Tool changer for machining center

Abstract

The utility model discloses machining center tool changing device, including frame, store tool mechanism, take tool mechanism and transfer mechanism, the frame includes base and stand, the stand sets up on the base, the base is located the both sides of stand respectively as processing area and store tool area, store tool mechanism sets up in the store tool area for the storage clamping tool ware, the transfer mechanism reciprocating transmission between the processing area and the store tool area, take tool mechanism sets up on the stand and is located the top of store tool mechanism, take tool mechanism is used for the clamping tool ware in the store tool mechanism and the transfer mechanism takes place and places, the utility model discloses machining center tool changing device, through the automation operation of take tool mechanism and transfer mechanism, can replace the tool fast, accurately, reduce the tool changing time and non - processing time, improved overall production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of processing equipment technology, and in particular to a tool changing device for a machining center. Background Technology

[0002] In modern machining, machining centers are key equipment for achieving efficient and high-precision machining. To meet the needs of different workpieces and machining processes, machining centers typically require frequent tool changes; therefore, the structure and performance of the tool changing device directly affect the overall efficiency and machining quality of the machining center. Traditional tool changing devices require manual intervention or the removal of the worktable during the tool changing process, resulting in long tool changing times and impacting production efficiency. Utility Model Content

[0003] Therefore, the purpose of this utility model is to provide a tool changing device for machining centers with high tool changing efficiency.

[0004] The present invention adopts the following technical solution:

[0005] A tool changing device for a machining center includes a frame, a tool storage mechanism, a tool retrieval mechanism, and a transfer mechanism. The frame includes a base and a column. The column is mounted on the base, with a machining area and a tool storage area located on either side of the column. The tool storage mechanism is located in the tool storage area and is used to store a tool holder. The transfer mechanism reciprocates between the machining area and the tool storage area. The tool retrieval mechanism is mounted on the column and located above the tool storage mechanism. The tool retrieval mechanism is used to retrieve and place the tool holder on the tool storage mechanism and the transfer mechanism.

[0006] Furthermore, the transfer mechanism includes a tool storage slide rail mounted on the base, a tool storage support frame slidably mounted on the tool storage slide rail, a tool storage drive module mounted on the base for driving the movement of the tool storage support frame, and a tool storage fixing module mounted on the tool storage support frame.

[0007] Furthermore, the tool storage fixing module includes a tool storage clearance groove disposed on the tool storage support frame, a fixing plate mounted on the tool storage support frame, a first fixing block mounted on the fixing plate, a first spring mounted on the first fixing block, a first clamping plate mounted on the first spring, a first clamping arm disposed on the first clamping plate, a second fixing block mounted on the fixing plate, a second spring mounted on the second fixing block, a second clamping plate mounted on the second spring, and a second clamping arm disposed on the second clamping plate; the clamping surfaces of the first clamping arm and the second clamping arm are arranged opposite to each other.

[0008] Furthermore, the base includes a fixed platform, a sliding platform mounted on the fixed platform, a sliding groove disposed on the sliding platform, a support platform disposed on the fixed platform, and a waste collection trough disposed on the fixed platform; the waste collection trough is disposed on the fixed platforms on both sides of the sliding platform, and the waste collection trough is inclined downward in the length direction of the fixed platform; the column is mounted on the support platform; and the transfer mechanism is slidably disposed on the sliding groove.

[0009] Furthermore, the tool storage mechanism includes fixed brackets installed at both ends of the base, a support plate installed on the fixed brackets, an mounting plate installed on the support plate, a plurality of positioning mounting slots provided on the mounting plate, and a limiting step provided on the positioning mounting slots.

[0010] Furthermore, the tool-retrieving mechanism includes an X-axis movable module mounted on the column, a Y-axis movable module mounted on the X-axis movable module, a Z-axis movable module mounted on the Y-axis movable module, and a tool-retrieving module mounted on the Z-axis movable module.

[0011] Furthermore, the X-axis movable module includes an X-axis support frame mounted on the column, an X-axis slide rail mounted on the X-axis support frame, an X-axis sliding plate slidably mounted on the X-axis slide rail, an X-axis drive motor mounted on the X-axis support frame, and an X-axis drive rod mounted on the X-axis drive motor; the X-axis sliding plate is throttle-connected to the X-axis drive rod; and the Y-axis movable module is mounted on the X-axis sliding plate.

[0012] Furthermore, the Y-axis movable module includes a Y-axis slide rail disposed on the X-axis slide plate, a Y-axis slide plate slidably disposed on the Y-axis slide rail, a Y-axis drive motor mounted on the X-axis slide plate, and a Y-axis drive rod disposed on the Y-axis drive motor; the X-axis slide plate is throttlely connected to the Y-axis drive rod; and the Z-axis movable module is mounted on the Y-axis slide plate.

[0013] Furthermore, the Z-axis movable module includes a Z-axis lifting drive component disposed on the Y-axis sliding plate and a Z-axis guard plate mounted on the Z-axis lifting drive component; the tool taking mechanism is mounted on the Z-axis lifting drive component.

[0014] Furthermore, the tool retrieval mechanism includes a tool retrieval bracket mounted on the Z-axis lifting drive, a tool retrieval cylinder mounted on the tool retrieval bracket, and two tool retrieval jaws mounted on the tool retrieval cylinder; the tool retrieval cylinder is used to drive the two tool retrieval jaws to pick up and place the tool.

[0015] The beneficial effects of this utility model are as follows:

[0016] The tool changing device for machining centers involved in this utility model can quickly and accurately change tools through the automated operation of the tool picking mechanism and the transfer mechanism, reducing tool changing time and non-machining time, and improving overall production efficiency. Attached Figure Description

[0017] Figure 1 This is a perspective view of a machining center tool changing device according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 Exploded view of the tool changing device in a machining center;

[0019] Figure 3 for Figure 1 Exploded view of the transfer mechanism of the tool changer in a machining center;

[0020] Figure 4 for Figure 1 Exploded view of the moving components and tool-retrieving mechanism of the tool changing device in a machining center;

[0021] Figure 5 for Figure 1 Exploded view of the tool storage mechanism of the tool changer in a machining center;

[0022] Figure 6 for Figure 1 Exploded view of the tool storage and fixing module of the tool changing device in a machining center.

[0023] Reference numerals: 10, frame; 11, base; 12, column; 110, fixed platform; 111, sliding platform; 112, equipped with sliding groove; 113, support platform; 114, waste collection trough;

[0024] 20. Tool storage mechanism; 21. Fixed bracket; 22. Support plate; 23. Mounting plate; 220. Positioning mounting groove; 221. Limiting step;

[0025] 40. Tool retrieval mechanism; 41. Tool retrieval support; 42. Tool retrieval cylinder; 43. Tool retrieval gripper;

[0026] 50. Transfer mechanism; 51. Tool storage slide rail; 53. Tool storage drive module; 54. Tool storage support frame; 55. Tool storage fixing module; 550. Tool storage clearance groove; 551. Fixing plate; 552. First fixing block; 553. First spring; 554. First clamping plate; 555. First clamping arm; 556. Second fixing block; 557. Second spring; 558. Second clamping plate; 559. Second clamping arm;

[0027] 60. Tool clamp; 61. Intermediate rod; 62. Fixing ring; 63. Annular fixing groove; 32. X-axis movable module; 33. Y-axis movable module; 34. Z-axis movable module; 320. X-axis slide rail; 322. X-axis sliding plate; 323. X-axis drive motor; 330. Y-axis slide rail; 332. Y-axis sliding plate; 333. Y-axis drive motor; 340. Z-axis lifting drive component; 341. Z-axis guard plate. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be noted that the terms "vertical direction," "up," "down," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] Please see Figures 1 to 6 This invention relates to a machining center tool changing device according to one embodiment of the present invention, comprising a frame 10, a tool storage mechanism 20, a tool retrieval mechanism, and a transfer mechanism 50. The frame 10 includes a base 11 and a column 12. The column 12 is mounted on the base 11, with the base 11 located on both sides of the column 12, which are respectively a machining area and a tool storage area. The tool storage mechanism 20 is located in the tool storage area and is used to store a tool holder 60. The transfer mechanism 50 reciprocates between the machining area and the tool storage area. The tool retrieval mechanism is mounted on the column 12 and located above the tool storage mechanism 20. The tool retrieval mechanism is used to retrieve and place the tool holder 60 on the tool storage mechanism 20 and the transfer mechanism 50.

[0032] The working principle of the tool changing device of this utility model is as follows: The tool storage mechanism 20 (located in the tool storage area) pre-stores multiple tool holders 60 with tools; when a specific tool is needed, the tool retrieval mechanism on the column 12 moves to the corresponding position of the tool storage mechanism 20, clamps the target tool holder 60 and takes it out; the tool retrieval mechanism accurately places the retrieved tool holder 60 onto the transfer mechanism 50 located in the tool storage area; the transfer mechanism 50 moves along a preset path (back and forth between the tool storage area and the machining area), transporting the tool holder 60 (including the tool) from the tool storage area to the designated workstation in the machining area; the machining area uses the delivered tool to perform metal processing; after the operation is completed, the transfer mechanism 50 returns the used tool holder 60 to the tool storage area, and the tool retrieval mechanism puts it back into the tool storage mechanism 20, waiting for the next call, forming a complete tool circulation cycle.

[0033] Compared to existing technologies, the tool changing device for machining centers of this invention, through the automated operation of the tool picking mechanism and the transfer mechanism 50, can quickly and accurately change tools, reducing tool changing time and non-machining time, and improving overall production efficiency. The automated tool changing process reduces manual intervention, lowers downtime caused by tool changing, and improves equipment utilization. The precision structure and control of the tool picking mechanism and the transfer mechanism 50 ensure accurate transfer of the tool holder 60 between the tool storage area and the machining area, reducing errors caused by human factors and improving machining accuracy. Through a reasonable mechanical structure and stable fixing method, vibration during tool changing and machining is reduced, further improving machining quality.

[0034] Please refer to Figure 2 and Figure 6 The transfer mechanism 50 includes a tool storage slide rail 51 mounted on the base 11, a tool storage support frame 54 slidably mounted on the tool storage slide rail 51, a tool storage drive module 53 mounted on the base 11 for driving the movement of the tool storage support frame 54, and a tool storage fixing module 55 mounted on the tool storage support frame 54. By using the tool storage slide rail 51, the tool storage support frame 54, the tool storage drive module 53, and the tool storage fixing module 55, automatic tool or blade replacement can be achieved, reducing manual intervention and improving production efficiency; the tool storage drive module 53 can precisely control the movement of the tool storage support frame 54, ensuring accurate positioning of the tool or blade during the replacement process and improving machining accuracy.

[0035] The tool storage fixing module 55 includes a tool storage clearance groove 550 disposed on the tool storage support frame 54, a fixing plate 551 mounted on the tool storage support frame 54, a first fixing block 552 mounted on the fixing plate 551, a first spring 553 mounted on the first fixing block 552, a first clamping plate 554 mounted on the first spring 553, a first clamping arm 555 disposed on the first clamping plate 554, a second fixing block 556 mounted on the fixing plate 551, a second spring 557 mounted on the second fixing block 556, a second clamping plate 558 mounted on the second spring 557, and a second clamping arm 559 disposed on the second clamping plate 558; the clamping surfaces of the first clamping arm 555 and the second clamping arm 559 are arranged opposite to each other. With the clamping surfaces of the first clamping arm 555 and the second clamping arm 559 arranged opposite each other, the blade or tool can be firmly fixed on the tool storage support frame 54, preventing loosening or falling off during processing and improving processing stability and safety. The first clamping plate 554 and the second clamping plate 558 are connected to the fixing plate 551 through the first spring 553 and the second spring 557. The springs can provide a certain elasticity, so that the clamping force can be adjusted according to different sizes and types of blades or tools to meet the needs of different occasions. The elasticity of the springs can buffer the impact force of the blade or tool during installation and removal, reduce the wear between the blade or tool and the fixing device, and extend the service life of the blade and tool.

[0036] The tool holder 60 includes a central rod 61, a retaining ring 62 mounted on the central rod 61, and an annular retaining groove 63 disposed on the retaining ring 62. The opposing surfaces of the first clamping arm 555 and the second clamping arm 559 are both arc-shaped structures. Both the first clamping arm 555 and the second clamping arm 559 cooperate with the annular retaining groove 63. Through the structural design of the central rod 61, the retaining ring 62, and the annular retaining groove 63, the tool or blade can be firmly fixed during installation. The arc-shaped first clamping arm 555 and the second clamping arm 559 can closely cooperate with the annular retaining groove 63 to form multi-point contact, providing a more uniform clamping force, thereby improving the reliability of the fixation. The arc-shaped clamping surface can match the shape of the annular retaining groove 63, ensuring that the tool or blade can be accurately aligned during installation, reducing positional deviation and improving machining accuracy. The arc-shaped clamping surface design allows the tool holder 60 to adapt to blades or tools of different sizes and shapes, increasing the versatility and flexibility of the equipment.

[0037] Please refer to Figure 1 and Figure 2The base includes a fixed platform 110, a sliding platform 111 mounted on the fixed platform 110, a sliding groove 112 set on the sliding platform 111, a support platform 113 set on the fixed platform 110, and a waste collection trough 114 set on the fixed platform 110. The waste collection trough 114 is set on the fixed platforms 110 on both sides of the sliding platform 111. The waste collection trough 114 is inclined downward in the length direction of the fixed platform 110. The column 12 is mounted on the support platform 113, and the transfer mechanism 50 is slidably mounted on the sliding groove 112. The sliding groove 112 on the sliding table 111 provides a precise motion track for the transfer mechanism 50. In conjunction with the transfer mechanism's own slide rail, it further limits the movement path, reduces offset during transfer, and ensures that the tool holder (including the tool) is smoothly transported between the tool storage area and the processing area, improving the tool changing positioning accuracy. The waste collection grooves 114 on the fixed tables 110 on both sides of the sliding table 111 can directly collect metal scraps generated in the processing area. The grooves are inclined downwards along the length of the fixed table 110, which can use gravity to make the waste automatically slide down, eliminating the need for frequent manual cleaning, reducing the interference of waste accumulation on processing or tool changing, and reducing maintenance costs. The column 12 is installed on the support platform 113 of the fixed table 110. The support platform can raise the installation height of the column, enhance the stress stability, and avoid the wobbling that may occur when the column is directly installed on a flat fixed table. At the same time, it disperses the weight load of the column and the tool picking mechanism, reduces the deformation of the base, and ensures the accuracy of the tool picking mechanism when picking up and placing tools.

[0038] Please refer to Figure 2 and Figure 5 The tool storage mechanism 20 includes fixed brackets 21 mounted at both ends of the base 11, a support plate 22 mounted on the fixed brackets 21, a mounting plate 23 mounted on the support plate 22, multiple positioning mounting slots 220 provided on the mounting plate 23, and limiting steps 221 provided on the positioning mounting slots 220; the limiting steps 221 cooperate with the fixing ring 62. Through the multi-layered structure design of the fixed brackets 21, support plate 22, and mounting plate 23, the tool storage mechanism 20 is ensured to be installed stably, reducing vibration and displacement during use, and improving overall stability and reliability; the multiple positioning mounting slots 220 design ensures that multiple blades or tools are accurately positioned during storage, avoiding usage problems caused by positional deviations; the cooperation between the limiting steps 221 and the fixing ring 62 further ensures that the position of each blade or tool in the mounting slot is fixed, preventing movement during storage or replacement.

[0039] Please refer to Figure 1 and Figure 4The tool-retrieving mechanism 40 includes an X-axis movable module 32 mounted on the column 12, a Y-axis movable module 33 mounted on the X-axis movable module 32, a Z-axis movable module 34 mounted on the Y-axis movable module 33, and a tool-retrieving module mounted on the Z-axis movable module 34. Through the multi-axis movable module design (X-axis, Y-axis, and Z-axis), precise movement and positioning in three-dimensional space can be achieved, ensuring high precision when gripping and placing blades or tools. Each axis movable module can be independently controlled, making position adjustment more flexible and accurate. The three-axis movable module design allows the tool-retrieving mechanism to move freely in three-dimensional space, adapting to the gripping and placement needs of blades or tools at different positions and angles.

[0040] The X-axis movable module 32 includes an X-axis support frame mounted on a column, an X-axis slide rail 320 mounted on the X-axis support frame, an X-axis sliding plate 322 slidably mounted on the X-axis slide rail 320, an X-axis drive motor 323 mounted on the X-axis support frame, and an X-axis drive rod mounted on the X-axis drive motor 323. The X-axis sliding plate 322 is drively connected to the X-axis drive rod. The Y-axis movable module 33 is mounted on the X-axis sliding plate 322. It provides a stable linear motion path, ensuring smooth and high-precision movement of the X-axis sliding plate 322. The X-axis drive motor 323 and the X-axis drive rod system can achieve precise position control and speed adjustment, ensuring the accuracy and repeatability of the movement. It provides a solid support foundation, ensuring the stability of the entire X-axis movable module 32 and reducing vibration and shaking during movement.

[0041] The Y-axis movable module 33 includes a Y-axis slide rail 330 mounted on the X-axis slide plate 322, a Y-axis slide plate 332 slidably mounted on the Y-axis slide rail 330, a Y-axis drive motor 333 mounted on the X-axis slide plate 322, and a Y-axis drive rod mounted on the Y-axis drive motor 333; the X-axis slide plate 322 is drively connected to the Y-axis drive rod; the Z-axis movable module 34 is mounted on the Y-axis slide plate 332. It provides a stable vertical motion path, ensuring smooth and high-precision movement of the Y-axis slide plate 332 and reducing offset and vibration during movement; through a precise motor and drive rod system, accurate position control and speed adjustment can be achieved, ensuring the accuracy and repeatability of the movement; in conjunction with the Y-axis slide rail 330, it ensures smooth movement in the Y-axis direction, improving the overall system stability.

[0042] The Z-axis movable module 34 includes a Z-axis lifting drive 340 mounted on the Y-axis sliding plate 332 and a Z-axis guard plate 341 mounted on the Z-axis lifting drive 340; the tool-retrieving mechanism 40 is mounted on the Z-axis lifting drive 340. It provides a stable and precise lifting motion path, ensuring smooth movement of the tool-retrieving mechanism 40 in the Z-axis direction and reducing vibration and offset during movement. Through precise transmission component design and control, high-precision lifting positioning can be achieved, ensuring the accuracy and repeatability of the tool-retrieving mechanism 40 at different height positions. Mounted on the Z-axis lifting drive 340, it effectively protects internal transmission components from interference by dust, impurities, and other external factors, extending the service life of the transmission components.

[0043] The tool retrieval mechanism 40 includes a tool retrieval bracket 41 mounted on the Z-axis lifting drive 340, a tool retrieval cylinder 42 mounted on the tool retrieval bracket 41, and two tool retrieval jaws 43 mating and mounted on the tool retrieval cylinder 42. The tool retrieval cylinder 42 drives the two tool retrieval jaws 43 to pick up and place the tool 60. Driving the tool retrieval jaws 43 with a cylinder allows for precise control, ensuring the accuracy and repeatability of the tool retrieval and placement process. The two mating tool retrieval jaws 43 can firmly grip the blade or tool, ensuring that it will not slip or be damaged during the retrieval and placement process. The cylinder-driven method has a fast response characteristic, allowing for quick completion of tool retrieval and placement actions, improving work efficiency.

[0044] The above description merely illustrates the preferred technical solution of this utility model, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and this utility model also intends to include these modifications and variations.

Claims

1. A tool changing device for a machining center, characterized in that, The system includes a frame, a tool storage mechanism, a tool retrieval mechanism, and a transfer mechanism. The frame includes a base and a column. The column is mounted on the base, with a processing area and a tool storage area located on either side of the column. The tool storage mechanism is located in the tool storage area and is used to store the tool holder. The transfer mechanism reciprocates between the processing area and the tool storage area. The tool retrieval mechanism is mounted on the column and located above the tool storage mechanism. The tool retrieval mechanism is used to retrieve and place the tool holder on the tool storage mechanism and the transfer mechanism.

2. The machining center tool changing device according to claim 1, characterized in that, The transfer mechanism includes a tool storage slide rail mounted on the base, a tool storage support frame slidably mounted on the tool storage slide rail, a tool storage drive module mounted on the base for driving the movement of the tool storage support frame, and a tool storage fixing module mounted on the tool storage support frame.

3. The machining center tool changing device according to claim 2, characterized in that, The tool storage fixing module includes a tool storage clearance groove disposed on the tool storage support frame, a fixing plate mounted on the tool storage support frame, a first fixing block mounted on the fixing plate, a first spring mounted on the first fixing block, a first clamping plate mounted on the first spring, a first clamping arm disposed on the first clamping plate, a second fixing block mounted on the fixing plate, a second spring mounted on the second fixing block, a second clamping plate mounted on the second spring, and a second clamping arm disposed on the second clamping plate; the clamping surfaces of the first clamping arm and the second clamping arm are arranged opposite to each other.

4. The machining center tool changing device according to claim 1, characterized in that, The base includes a fixed platform, a sliding platform mounted on the fixed platform, a sliding groove disposed on the sliding platform, a support platform disposed on the fixed platform, and a waste collection trough disposed on the fixed platform; the waste collection trough is disposed on the fixed platforms on both sides of the sliding platform, and the waste collection trough is inclined downward in the length direction of the fixed platform; the column is mounted on the support platform; and the transfer mechanism is slidably disposed on the sliding groove.

5. The machining center tool changing device according to claim 1, characterized in that, The tool storage mechanism includes fixed brackets installed at both ends of the base, a support plate installed on the fixed brackets, an mounting plate installed on the support plate, multiple positioning mounting slots provided on the mounting plate, and limiting steps provided on the positioning mounting slots.

6. The machining center tool changing device according to claim 1, characterized in that, The tool retrieval mechanism includes an X-axis movable module mounted on the column, a Y-axis movable module mounted on the X-axis movable module, a Z-axis movable module mounted on the Y-axis movable module, and a tool retrieval module mounted on the Z-axis movable module.

7. The machining center tool changing device according to claim 6, characterized in that, The X-axis movable module includes an X-axis support frame mounted on the column, an X-axis slide rail mounted on the X-axis support frame, an X-axis sliding plate slidably mounted on the X-axis slide rail, an X-axis drive motor mounted on the X-axis support frame, and an X-axis drive rod mounted on the X-axis drive motor; the X-axis sliding plate is throttle-connected to the X-axis drive rod; and the Y-axis movable module is mounted on the X-axis sliding plate.

8. The machining center tool changing device according to claim 7, characterized in that, The Y-axis movable module includes a Y-axis slide rail disposed on the X-axis slide plate, a Y-axis slide plate slidably disposed on the Y-axis slide rail, a Y-axis drive motor mounted on the X-axis slide plate, and a Y-axis drive rod disposed on the Y-axis drive motor; the X-axis slide plate is throttlely connected to the Y-axis drive rod; and the Z-axis movable module is mounted on the Y-axis slide plate.

9. The machining center tool changing device according to claim 8, characterized in that, The Z-axis movable module includes a Z-axis lifting drive unit disposed on the Y-axis sliding plate and a Z-axis guard plate mounted on the Z-axis lifting drive unit; the tool taking mechanism is mounted on the Z-axis lifting drive unit.

10. The machining center tool changing device according to claim 9, characterized in that, The tool retrieval mechanism includes a tool retrieval bracket mounted on the Z-axis lifting drive, a tool retrieval cylinder mounted on the tool retrieval bracket, and two tool retrieval jaws mounted on the tool retrieval cylinder; the tool retrieval cylinder is used to drive the two tool retrieval jaws to pick up and place the tool.

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